In order for spatial self-organization to emerge \(\mathcal {S}\)  must be operating in a
bounded space; without this restriction a swarm will not necessarily be collectively
motivated to manage space efficiently. In applications such as outdoor search and
rescue, with large or unbounded operating arenas, a task-based self-organization
measure may be more appropriate. For other
applications, assuming a bounded space is reasonable. For example, such restrictions
are common in real-world indoor applications such as
warehouses [1]}, [2]}.
